version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 80
start: 12 22 116 4 25 5
data:
$ID,573
$MISSION,15
$DIVE,80
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,340
$T_MISSION,380
$T_ABORT,400
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,155
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52758
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,670
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-31697.395
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3858
$C_PITCH,2954
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1869
$C_ROLL_CLIMB,1333
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,3250
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.331184
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,5
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,131
$DEVICE4,151
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$GPS1,221216,041721,-4534.246,547.160,44,0.8,44,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-58.4
$GPS2,221216,042441,-4534.207,547.211,19,1.1,20,-24.1
$SPEED_LIMITS,0.170,0.262
$TGT_NAME,SOUTH
$TGT_LATLONG,-4620.000,470.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,233.4,97246,-17.6,-9.804,-20.49,2356
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.77,-150.8,209,1876,603,409,0.0,0.0,0,168,0.00,0.00,-149.77,0.000,16386,0.000,0.000,208,1873,3554,3586,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,171,-0.77,-150.8,208,1873,3593,3517,3.2,-2.5,24,199,10.52,2.38,-8.77,0.000,18692,0.261,0.083,2685,3272,3867,3999,3736,0,0,0,0,0,0,25.44,25.65,26.03
$GC,268,-0.90,-150.8,1712,3271,4004,3732,12.9,-7.3,41,276,0.03,2.28,0.00,0.000,5126,0.115,0.050,2655,1865,3869,4005,3733,0,0,0,0,0,0,25.72,25.79,28.83
$GC,320,-0.90,-150.8,2655,1865,4006,3733,17.4,-8.6,50,326,0.00,0.00,0.00,0.000,2054,0.000,0.000,2656,1865,3869,4006,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,368,-0.90,-150.8,1696,1863,4005,3732,22.1,-8.9,59,375,0.00,0.00,0.00,0.000,2054,0.000,0.000,2655,1865,3869,4006,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,499,-0.90,-150.8,1672,1863,4005,3732,34.8,-10.8,84,507,0.00,2.33,0.00,0.000,2564,0.000,0.067,2658,469,3869,4006,3733,0,0,0,0,0,0,28.83,25.88,28.83
$GC,564,-0.90,-150.8,2657,469,4006,3733,42.2,-11.4,96,571,0.00,2.28,0.00,0.000,3078,0.000,0.050,2649,1866,3869,4006,3733,0,0,0,0,0,0,28.83,25.93,28.83
$GC,878,-0.90,-150.8,2649,1867,4007,3733,75.2,-10.5,157,884,0.00,0.00,0.00,0.000,2054,0.000,0.000,2649,1867,3869,4006,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1188,-0.90,-150.8,2649,1867,4007,3733,106.0,-9.6,179,1189,0.00,0.00,0.00,0.000,2054,0.000,0.000,2649,1867,3870,4007,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1485,-0.90,-150.8,2649,1867,4007,3733,137.3,-11.1,194,1486,0.00,0.00,0.00,0.000,2054,0.000,0.000,2649,1867,3870,4007,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1788,-0.90,-150.8,2649,1867,4007,3733,169.0,-10.3,209,1793,0.00,2.28,0.00,0.000,2564,0.000,0.065,2649,462,3870,4008,3733,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1833,-0.90,-150.8,2649,462,4008,3733,173.5,-10.6,211,1838,0.10,2.28,0.00,0.000,3078,0.178,0.049,2664,1872,3870,4007,3733,0,0,0,0,0,0,26.10,26.24,28.83
$GC,2148,-0.95,-150.8,2663,1873,4008,3733,202.5,-8.8,227,2153,0.00,2.22,0.00,0.000,4356,0.000,0.067,2653,3277,3871,4009,3733,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2189,-1.01,-150.8,2654,3277,4009,3732,206.0,-8.7,229,2195,0.05,2.20,0.00,0.000,5126,0.073,0.050,2611,1862,3871,4009,3733,0,0,0,0,0,0,26.22,26.27,28.83
$GC,2508,-0.97,-150.8,2611,1862,4009,3732,241.0,-11.3,245,2510,0.12,0.00,0.00,0.000,2054,0.172,0.000,2643,1862,3871,4009,3733,0,0,0,0,0,0,26.17,28.83,28.83
$GC,2807,-0.97,-150.8,2642,1862,4009,3733,270.2,-9.8,260,2811,0.00,2.25,0.00,0.000,516,0.000,0.067,2643,465,3871,4009,3733,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2878,-0.97,-150.8,2643,465,4008,3733,276.1,-10.4,263,2885,0.00,2.25,0.00,0.000,3078,0.000,0.050,2635,1865,3870,4008,3733,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3186,-0.97,-150.8,2634,1865,4009,3733,308.5,-9.7,279,3187,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1865,3871,4009,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3487,-0.97,-150.8,2634,1865,4008,3733,336.6,-9.4,294,3488,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1865,3871,4009,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3787,-0.97,-150.8,2634,1865,4008,3732,365.9,-10.2,309,3788,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1865,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4087,-0.97,-150.8,2634,1865,4009,3732,396.8,-10.3,324,4088,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1866,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4385,-0.97,-150.8,2634,1866,4009,3732,427.1,-10.2,339,4386,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1866,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4685,-0.97,-150.8,2634,1865,4009,3732,457.1,-9.8,354,4686,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1865,3870,4009,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4986,-0.97,-150.8,2634,1865,4009,3732,487.0,-9.8,369,4992,0.00,2.22,0.00,0.000,2308,0.000,0.067,2624,3265,3870,4009,3732,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5038,-0.97,-150.8,2623,3266,4009,3731,490.8,-9.6,371,5045,0.05,2.20,0.00,0.000,3078,0.216,0.050,2637,1861,3870,4009,3731,0,0,0,0,0,0,26.30,26.40,28.83
$GC,5346,-0.97,-150.8,2636,1860,4009,3731,518.9,-8.5,387,5347,0.00,0.00,0.00,0.000,2054,0.000,0.000,2636,1860,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5645,-0.97,-150.8,2636,1860,4010,3731,544.5,-8.5,402,5650,0.00,2.25,0.00,0.000,2564,0.000,0.068,2636,461,3870,4009,3731,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5721,-0.97,-150.8,2636,461,4009,3731,551.5,-9.2,406,5725,0.00,2.22,0.00,0.000,3078,0.000,0.052,2628,1866,3870,4009,3731,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6038,-0.97,-150.8,2627,1867,4009,3731,580.1,-8.9,422,6039,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1867,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6338,-0.97,-150.8,2628,1867,4009,3730,606.1,-8.6,437,6339,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1867,3869,4009,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6637,-0.97,-150.8,2627,1867,4009,3729,631.4,-8.3,452,6638,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1867,3869,4009,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6937,-0.97,-150.8,2628,1866,4009,3729,656.8,-8.6,467,6943,0.00,2.30,0.00,0.000,2564,0.000,0.067,2628,459,3868,4008,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6980,-0.97,-150.8,2627,459,4008,3728,660.6,-9.1,469,6985,0.10,2.25,0.00,0.000,3078,0.186,0.051,2642,1870,3868,4008,3728,0,0,0,0,0,0,26.28,26.43,28.83
$GC,7293,-1.01,-150.8,2642,1870,4008,3728,687.1,-8.4,485,7299,0.00,2.28,0.00,0.000,4612,0.000,0.067,2642,465,3868,4008,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7326,-1.05,-150.8,2642,465,4008,3728,688.8,-8.5,486,7333,0.05,2.25,0.00,0.000,5126,0.158,0.051,2596,1880,3868,4008,3728,0,0,0,0,0,0,26.39,26.42,28.83
$GC,7632,-1.01,-150.8,2595,1881,4009,3728,722.5,-10.7,502,7639,0.12,2.20,0.00,0.000,2308,0.171,0.065,2623,3271,3868,4008,3728,0,0,0,0,0,0,26.30,26.36,28.83
$GC,7692,-1.01,-150.8,2622,3271,4008,3727,728.4,-10.1,505,7696,0.00,2.20,0.00,0.000,3078,0.000,0.052,2625,1868,3868,4009,3727,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8009,-1.01,-150.8,2624,1868,4009,3727,758.2,-9.5,521,8015,0.00,2.28,0.00,0.000,2564,0.000,0.069,2624,466,3867,4008,3727,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8090,-1.01,-150.8,1800,466,4007,3726,766.2,-10.0,525,8095,0.00,2.25,0.00,0.000,3078,0.000,0.051,2615,1866,3867,4008,3727,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8408,-1.01,-150.8,2615,1867,4008,3726,798.5,-10.2,541,8410,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,1867,3867,4008,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8707,-1.01,-150.8,2615,1867,4008,3726,829.8,-10.6,556,8709,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,1867,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9008,-1.01,-150.8,2615,1867,4008,3726,861.3,-10.7,571,9012,0.00,2.25,0.00,0.000,2308,0.000,0.069,2605,3269,3867,4008,3726,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9032,-1.01,-150.8,2605,3269,4008,3726,863.0,-10.6,572,9036,0.05,2.22,0.00,0.000,3078,0.151,0.052,2632,1863,3867,4008,3726,0,0,0,0,0,0,26.29,26.43,28.83
$GC,9345,-1.05,-150.8,2632,1863,4008,3726,893.0,-9.0,588,9350,0.00,2.25,0.00,0.000,4612,0.000,0.069,2632,464,3866,4008,3725,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9432,-1.05,-150.8,2632,464,4008,3725,900.7,-9.6,592,9436,0.00,2.22,0.00,0.000,5126,0.000,0.052,2623,1878,3867,4008,3726,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9740,-1.05,-150.8,2623,1878,4008,3725,927.9,-8.1,607,9741,0.00,0.00,0.00,0.000,4102,0.000,0.000,2623,1878,3866,4008,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10039,-1.05,-150.8,2623,1878,4008,3725,950.7,-7.0,622,10040,0.00,0.00,0.00,0.000,4102,0.000,0.000,2623,1878,3866,4008,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10340,-1.08,-150.8,2623,1878,4008,3724,971.1,-6.2,637,10341,0.00,0.00,0.00,0.000,4102,0.000,0.000,2623,1878,3866,4008,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10639,-1.12,-150.8,2622,1878,4008,3724,988.0,-5.5,652,10641,0.10,0.00,0.00,0.000,4102,0.100,0.000,2574,1878,3866,4008,3724,0,0,0,0,0,0,26.52,28.83,28.83
$STATE,10819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10819,begin apogee
$GC,10824,-0.19,0.0,2574,1335,4008,3724,1001.0,-7.4,661,10959,1.02,0.00,129.27,1.299,10246,0.151,0.000,2890,1335,3249,3377,3122,0,0,0,0,0,0,26.25,28.83,23.37
$STATE,10960,end apogee,CONTROL_FINISHED_OK
$STATE,10960,begin climb
$GC,10961,0.77,150.8,2890,1335,3377,3123,1000.7,0.0,668,11104,0.90,2.22,134.27,1.252,10756,0.065,0.074,3213,160,2635,2730,2541,0,0,0,0,0,0,24.34,23.23,22.45
$GC,11209,0.51,150.8,3212,160,2723,2541,969.5,17.1,680,11217,0.35,2.00,0.00,0.000,5126,0.165,0.050,3123,1340,2631,2722,2541,0,0,0,0,0,0,24.41,24.55,28.83
$GC,11516,0.46,150.8,3122,1340,2718,2540,933.7,9.8,696,11521,0.08,2.03,0.00,0.000,4612,0.195,0.075,3115,162,2628,2717,2540,0,0,0,0,0,0,25.42,25.39,28.83
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$STATE,19677,end climb,SURFACE_DEPTH_REACHED
$STATE,19677,begin surface coast
$FINISH,1.4,1.003391
$STATE,19708,end surface coast,CONTROL_FINISHED_OK
$STATE,19708,begin surface
$SM_CCo,19724,181.75,0.054,0,0,517,670.15
$SM_GC,1.97,7.60,0.88,181.75,0.038,0.060,0.054,222,1875,517,-8.41,-1.13,670.15,0,0,0,0,0,0,26.44,26.40,26.17
$IRIDIUM_FIX,-4517.96,548.14,181009,121220
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.05
$INTERNAL_PRESSURE,8.86442
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.5,14.123
$10V_AH,10.3,8.404
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.200,139.875,377.025,181.750,0.000,26.931,20.817,275.545,25.000,0.000,20.984,2936.805,13670.064,751.413,2851.445,134.064,0.000,1990.190,0.000,2407.811,0.000,148.387,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.606,561.857,662.001,108.703,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353668
$DATA_FILE_SIZE,70184,1209
$CAP_FILE_SIZE,193425,0
$CFSIZE,2097086464,2081128448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221216,095804,-4534.358,545.997,39,1.1,39,-24.1